Road Runner Quickstart — MARS Branch

This repo starts from the standard Road Runner Quickstart for FTC SDK 11 and adds MARS-specific libraries on the mars branch. The master branch is kept in sync with upstream.

What mars adds on top of master

MarsCommonFtc submodule

Shared modules live in the MarsCommonFtc repository, consumed as a git submodule at MarsCommonFtc/. This allows multiple MARS FTC teams to share the same code with version pinning via tags.

Module	Purpose
ControlLib	MARS control library — motion profiles, filters, localization, simulation, and hardware helpers
ControlLab	Desktop Java app for offline tuning and signal visualization (uses XChart + ControlLib)
WpiMath	Port of WPILib's math library (geometry, kinematics, estimators, trajectories, controllers, filters, state-space)

See the MarsCommonFtc setup guide for detailed instructions on adding it to other robot projects.

Road Runner submodule (libs/road-runner/)

The Road Runner core and actions libraries are built from source via Git submodule. The FTC-specific utilities continue to be pulled from Maven for compatibility.

Building core from source adds velocity-dependent feedforward and path-constraint features wired into MecanumDrive/TankDrive: yaw-coupling feedforward (straight-line curl compensation), anisotropic mecanum feedforward (separate axial and lateral constants), a voltage-aware wheel constraint (adapts path velocity to available headroom), and a centripetal acceleration limit (cornering speed cap). All default to no-ops; automatic tuners are provided for each.

Tuning is largely automated: on-robot sysid OpModes identify the feedforward constants (AxialFeedforwardTuner, LateralFeedforwardTuner, YawCouplingTuner), TrackWidthTuner corrects the effective track width (the only way to measure it on Pinpoint/OTOS setups), and PathFeedbackGainTuner finds the follower feedback gains on long path legs. See the automated tuning flow for the recommended procedure, the plant model and identification theory for the physics and strategy behind those numbers, and the feedforward and constraints guide for the models behind the extensions.

ControlLib contents (org.marsroboticsassociation.controllib)

Motion profiles

• SCurvePosition / SCurveVelocity — jerk-limited S-curve motion profiles
• PositionTrajectoryManager / VelocityTrajectoryManager — stateful trajectory runners

Filters

• BiquadLowPassVarDt — biquad low-pass filter with variable dt
• IIR1LowPassVarDt — first-order IIR low-pass with variable dt
• KalmanFilter / KalmanFilterOperations — scalar Kalman filter

Localization

• FieldPoseEstimator — fuses odometry with sensor updates for field-relative pose
• localization/pinpoint/ — odometry driver for the goBILDA Pinpoint odometry computer

Motor controllers

• FlywheelSimple / FlywheelStateSpace — flywheel velocity controllers
• MotorBase / VelocityMotorBase — base classes for motor control
• VelocityMotorPF / VelocityMotorSdkPidf — velocity motor implementations

Hardware helpers

• FtcMotors — motor utility wrappers
• GoBildaRgbLight — driver for the goBILDA RGB indicator light

Simulation

• EncoderSim — software encoder model for unit testing
• FlywheelMotorSim — flywheel motor physics simulation

Utilities

• InterpLUT / LUT / LinInterpTable — lookup tables with interpolation
• RunningIntervalStats — online mean/variance statistics
• SetOnChange — value wrapper that fires a callback only on change
• ProjectileMotion — projectile launch angle / exit velocity calculator

ControlLab desktop app

A standalone Java application (./gradlew :ControlLab:run) for offline analysis. Reads CSV signal files, applies filters from ControlLib, and renders plots via XChart.

Cloning

This repo uses nested submodules. Clone with:

git clone --recurse-submodules <repo-url>
# or, after a plain clone:
git submodule update --init --recursive

Build notes

• Road Runner core and actions libraries are built from source via composite build with the libs/road-runner/ submodule. Dependency substitution in settings.gradle automatically redirects Maven artifacts to local projects.
• WpiMath and ControlLib are plain Java modules; they run on the desktop JVM and on Android equally. ControlLib uses a shadow JAR to relocate EJML and avoid classpath conflicts on the robot.
• Shared modules are included via projectDir redirects in settings.gradle pointing into MarsCommonFtc/. Project names (:ControlLib, :WpiMath, etc.) are unchanged, so all existing dependency declarations work as-is.